Abstract
It is very important to develop a guide robot for the visually impaired people with the hope of welfare reform. Lest the visually impaired people fall down by the step or have a collision with a street tree, the guide robot must guide them safely. A 3-dimensional map where various obstacles and steps have been recorded is necessary for the guide robot. In this study, 3-dimensional occupancy gird map concerning the unleveled ground was made with a measuring device composed of a servo motor and a laser range finder. Small stones, grass, and a tree branch and so on were expressible on the 3-dimensional map. The standard deviation value on the map, i.e. the void ratio above the uneven ground, can indicate whether the guide robot for the visually impaired people can go into the measured place. Even if the each measured area is small, the maps can combine to create the wide field map. We have been able to make 3-dimensional occupancy grid maps which are useful to guide the visually impaired people.
